Bluetooth SPRK&x2B；Sphereo未与蓝牙配对（Ubuntu 14.04和RasPi）_Bluetooth_Raspberry Pi_Bluetooth Lowenergy_Robotics_Bluez

Bluetooth SPRK&x2B；Sphereo未与蓝牙配对（Ubuntu 14.04和RasPi）

bluetooth raspberry-pi

Bluetooth SPRK&x2B；Sphereo未与蓝牙配对（Ubuntu 14.04和RasPi）,bluetooth,raspberry-pi,bluetooth-lowenergy,robotics,bluez,Bluetooth,Raspberry Pi,Bluetooth Lowenergy,Robotics,Bluez,我正在尝试按照mmwise教程（）在ROS环境中使用sphero SPRK+。我无法使用蓝牙CTL或蓝牙屏幕将SPRK+连接到我的电脑我在OracleVirtualBox Ubuntu 14.04和IndigoRos中都试过，在RaspberryPi3和RosStretch中也试过。bluetoothctl的错误在两种情况下完全相同，如下所示： [bluetooth]# pair F7:AF:AF:64:39:66 Attempting to pair with F7:AF:AF:64:39:

我正在尝试按照mmwise教程（）在ROS环境中使用sphero SPRK+。我无法使用蓝牙CTL或蓝牙屏幕将SPRK+连接到我的电脑

我在OracleVirtualBox Ubuntu 14.04和IndigoRos中都试过，在RaspberryPi3和RosStretch中也试过。bluetoothctl的错误在两种情况下完全相同，如下所示：

[bluetooth]# pair F7:AF:AF:64:39:66
Attempting to pair with F7:AF:AF:64:39:66
[CHG] Device F7:AF:AF:64:39:66 Connected: yes
Failed to pair: org.bluez.Error.AuthenticationFailed
[CHG] Device F7:AF:AF:64:39:66 Connected: no

如果我在配对前连接到SPRK+，它将成功并更改为

[bluetooth]# connect F7:AF:AF:64:39:66
Attempting to connect to F7:AF:AF:64:39:66
[CHG] Device F7:AF:AF:64:39:66 Connected: yes
Connection successful
[NEW] Primary Service
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0008
        00001801-0000-1000-8000-00805f9b34fb
        Generic Attribute Profile
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0008/char0009
        00002a05-0000-1000-8000-00805f9b34fb
        Service Changed
[NEW] Descriptor
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0008/char0009/desc000b
        00002902-0000-1000-8000-00805f9b34fb
        Client Characteristic Configuration
[NEW] Primary Service
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service000c
        22bb746f-2ba0-7554-2d6f-726568705327
        Vendor specific
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service000c/char000d
        22bb746f-2ba1-7554-2d6f-726568705327
        Vendor specific
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service000c/char000f
        22bb746f-2ba6-7554-2d6f-726568705327
        Vendor specific
[NEW] Descriptor
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service000c/char000f/desc0011
        00002902-0000-1000-8000-00805f9b34fb
        Client Characteristic Configuration
[NEW] Primary Service
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012
        22bb746f-2bb0-7554-2d6f-726568705327
        Vendor specific
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char0013
        22bb746f-2bb1-7554-2d6f-726568705327
        Vendor specific
[NEW] Descriptor
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char0013/desc0015
        00002904-0000-1000-8000-00805f9b34fb
        Characteristic Format
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char0016
        22bb746f-2bb2-7554-2d6f-726568705327
        Vendor specific
[NEW] Descriptor
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char0016/desc0018
        00002904-0000-1000-8000-00805f9b34fb
        Characteristic Format
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char0019
        22bb746f-2bb6-7554-2d6f-726568705327
        Vendor specific
[NEW] Descriptor
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char0019/desc001b
        00002904-0000-1000-8000-00805f9b34fb
        Characteristic Format
[NEW] Descriptor
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char0019/desc001c
        00002902-0000-1000-8000-00805f9b34fb
        Client Characteristic Configuration
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char001d
        22bb746f-2bb7-7554-2d6f-726568705327
        Vendor specific
[NEW] Descriptor
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char001d/desc001f
        00002904-0000-1000-8000-00805f9b34fb
        Characteristic Format
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char0020
        22bb746f-2bb8-7554-2d6f-726568705327
        Vendor specific
[NEW] Descriptor
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char0020/desc0022
        00002904-0000-1000-8000-00805f9b34fb
        Characteristic Format
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char0023
        22bb746f-2bb9-7554-2d6f-726568705327
        Vendor specific
[NEW] Descriptor
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char0023/desc0025
        00002904-0000-1000-8000-00805f9b34fb
        Characteristic Format
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char0026
        22bb746f-2bba-7554-2d6f-726568705327
        Vendor specific
[NEW] Descriptor
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char0026/desc0028
        00002904-0000-1000-8000-00805f9b34fb
        Characteristic Format
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char0029
        22bb746f-2bbd-7554-2d6f-726568705327
        Vendor specific
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char002b
        22bb746f-2bbe-7554-2d6f-726568705327
        Vendor specific
[NEW] Descriptor
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char002b/desc002d
        00002904-0000-1000-8000-00805f9b34fb
        Characteristic Format
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char002e
        22bb746f-2bbf-7554-2d6f-726568705327
        Vendor specific
[NEW] Descriptor
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char002e/desc0030
        00002904-0000-1000-8000-00805f9b34fb
        Characteristic Format
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char0031
        22bb746f-3bba-7554-2d6f-726568705327
        Vendor specific
[NEW] Descriptor
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0012/char0031/desc0033
        00002904-0000-1000-8000-00805f9b34fb
        Characteristic Format
[NEW] Primary Service
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0034
        00001016-d102-11e1-9b23-00025b00a5a5
        Vendor specific
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0034/char0035
        00001013-d102-11e1-9b23-00025b00a5a5
        Vendor specific
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0034/char0037
        00001017-d102-11e1-9b23-00025b00a5a5
        Vendor specific
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0034/char0039
        00001014-d102-11e1-9b23-00025b00a5a5
        Vendor specific
[NEW] Descriptor
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service0034/char0039/desc003b
        00002902-0000-1000-8000-00805f9b34fb
        Client Characteristic Configuration
[NEW] Primary Service
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service003c
        0000180a-0000-1000-8000-00805f9b34fb
        Device Information
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service003c/char003d
        00002a27-0000-1000-8000-00805f9b34fb
        Hardware Revision String
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service003c/char003f
        00002a25-0000-1000-8000-00805f9b34fb
        Serial Number String
[NEW] Descriptor
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service003c/char003f/desc0041
        00002904-0000-1000-8000-00805f9b34fb
        Characteristic Format
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service003c/char0042
        00002a24-0000-1000-8000-00805f9b34fb
        Model Number String
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service003c/char0044
        00002a29-0000-1000-8000-00805f9b34fb
        Manufacturer Name String
[NEW] Characteristic
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service003c/char0046
        00002a26-0000-1000-8000-00805f9b34fb
        Firmware Revision String
[NEW] Descriptor
        /org/bluez/hci0/dev_F7_AF_AF_64_39_66/service003c/char0046/desc0048
        00002904-0000-1000-8000-00805f9b34fb
        Characteristic Format
[CHG] Device F7:AF:AF:64:39:66 UUIDs: 00001016-d102-11e1-9b23-00025b00a5a5
[CHG] Device F7:AF:AF:64:39:66 UUIDs: 00001800-0000-1000-8000-00805f9b34fb
[CHG] Device F7:AF:AF:64:39:66 UUIDs: 00001801-0000-1000-8000-00805f9b34fb
[CHG] Device F7:AF:AF:64:39:66 UUIDs: 0000180a-0000-1000-8000-00805f9b34fb
[CHG] Device F7:AF:AF:64:39:66 UUIDs: 22bb746f-2ba0-7554-2d6f-726568705327
[CHG] Device F7:AF:AF:64:39:66 UUIDs: 22bb746f-2bb0-7554-2d6f-726568705327
[CHG] Device F7:AF:AF:64:39:66 ServicesResolved: yes
[SK-3966]#

然后进一步尝试将结果配对

[SK-3966]# pair
Attempting to pair with
Failed to pair: org.bluez.Error.AuthenticationFailed
[CHG] Device F7:AF:AF:64:39:66 ServicesResolved: no
[CHG] Device F7:AF:AF:64:39:66 Connected: no

在Ubuntu 14.04中尝试使用常规蓝牙设置屏幕进行连接会导致设置“SK-3999”失败

我试着将我的pi用户添加到另一篇文章中的lp组中，我很确定我的蓝牙在这两个组中都工作正常，因为它可以扫描和查找东西。有什么想法吗？

你看到的蓝牙CTL的行为是意料之中的。在BLE中，身份验证和加密与特征（数据）绑定。当您尝试与外围设备连接时，GATT发现发生，服务得到解决，连接成功建立

但是，当您第一次尝试向/从外围设备读取或写入数据时，即验证GATT服务的安全要求，生成配对请求并进行配对

这就是在您的案例中，

bluetoothctl connect

成功而

pair

失败的原因

如果外围设备上的GATT服务需要身份验证，则根据设备的IO功能，可能需要知道身份验证pin。下面是使用bluetoothctl进行身份验证的示例：

[bluetooth]# agent DisplayYesNo
Agent is already registered
[bluetooth]#pair 00:45:41:34:04:BA:8B
Request confirmation
[agent] Confirm passkey 547334 (yes/no): yes

蓝牙低能耗中的认证方法取决于连接设备的IO能力。例如，智能手机的IO功能是键盘显示，可移动腕带的IO功能是无输入无输出。有关您的BLE设备的文档应详细说明其身份验证方法。

欢迎使用Stack Overflow！请阅读并采取行动。话虽如此，还是继续问这个问题更好。